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<div class="textblock"><code>#include &lt;eigen3/Eigen/Dense&gt;</code><br />
<code>#include &lt;vector&gt;</code><br />
<code>#include &quot;<a class="el" href="../../d0/d99/c_types_8h_source.html">cTypes.h</a>&quot;</code><br />
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<p><a href="../../d9/d8e/cpp_types_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr class="memitem:a0b83d93a3c74d282558436e26c056896"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:a078e1eaa8a3af13cef27a0a8d0c1302e"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a078e1eaa8a3af13cef27a0a8d0c1302e"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a> = typename std::vector&lt; T, Eigen::aligned_allocator&lt; T &gt;&gt;</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr class="memitem:a78d284d08fd22d809fd436256f2cbc39"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a> { <a class="el" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">RobotType::CHEETAH_3</a>, 
<a class="el" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">RobotType::MINI_CHEETAH</a>
 }</td></tr>
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<h2 class="groupheader">Typedef Documentation</h2>
<a class="anchor" id="a190e396ab8cb0eb974ad2a5195edcb24"></a>
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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat</a> =  typename Eigen::Matrix&lt;T, 3, Eigen::Dynamic&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00114">114</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat</a> =  typename Eigen::Matrix&lt;T, 6, Eigen::Dynamic&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00110">110</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a> =  typename Eigen::Matrix&lt;T, Eigen::Dynamic, Eigen::Dynamic&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00106">106</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a> =  typename Eigen::Matrix&lt;T, Eigen::Dynamic, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00102">102</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a> =  typename Eigen::Matrix&lt;T, 10, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00098">98</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#ada3d7962220cc81b232609a200370584">Mat12</a> =  typename Eigen::Matrix&lt;T, 12, 12&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00074">74</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#aab83e4a81d3b54a13732c0d6fe6896f8">Mat18</a> =  Eigen::Matrix&lt;T, 18, 18&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00078">78</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6d377411d3fe1275cc51a4fccab47d94">Mat23</a> =  Eigen::Matrix&lt;T, 2, 3&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00090">90</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a5a3afe8ece84361450c2779a7c051c69">Mat28</a> =  Eigen::Matrix&lt;T, 28, 28&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00082">82</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a> =  typename Eigen::Matrix&lt;T, 3, 3&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00054">54</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34</a> =  Eigen::Matrix&lt;T, 3, 4&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00086">86</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4</a> =  typename Eigen::Matrix&lt;T, 4, 4&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00094">94</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a> =  typename Eigen::Matrix&lt;T, 6, 6&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00070">70</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a> =  typename Eigen::Matrix&lt;T, 4, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00058">58</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a> =  typename Eigen::Matrix&lt;T, 3, 3&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00018">18</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a> =  typename Eigen::Matrix&lt;T, 6, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00062">62</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a217c4c7a22cd434b9700b183b07f1505">SXform</a> =  typename Eigen::Matrix&lt;T, 6, 6&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00066">66</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a5b5c9415b99af20473201414cb37ad43">Vec10</a> =  Eigen::Matrix&lt;T, 10, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00038">38</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a87f228860242acc66da2e58086d18cec">Vec12</a> =  Eigen::Matrix&lt;T, 12, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00042">42</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a28d630783cecf8575d068f597c3793f3">Vec18</a> =  Eigen::Matrix&lt;T, 18, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00046">46</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a3ed2d7a1fdebc191497c0cc0ab0a870b">Vec2</a> =  typename Eigen::Matrix&lt;T, 2, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00022">22</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a77d3aab5f7fb8aa5d03d9a716ed5653a">Vec28</a> =  Eigen::Matrix&lt;T, 28, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00050">50</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a> =  typename Eigen::Matrix&lt;T, 3, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00026">26</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a> =  typename Eigen::Matrix&lt;T, 4, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00030">30</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a27bb8a600520708a5928332e4e52a92e">Vec6</a> =  Eigen::Matrix&lt;T, 6, 1&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00034">34</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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          <td class="memname">using <a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a> =  typename std::vector&lt;T, Eigen::aligned_allocator&lt;T&gt;&gt;</td>
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00118">118</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>

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<h2 class="groupheader">Enumeration Type Documentation</h2>
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          <td class="memname">enum <a class="el" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a></td>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a class="anchor" id="a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45"></a>CHEETAH_3&#160;</td><td class="fielddoc">
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<tr><td class="fieldname"><a class="anchor" id="a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498"></a>MINI_CHEETAH&#160;</td><td class="fielddoc">
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<p>Definition at line <a class="el" href="../../d9/d8e/cpp_types_8h_source.html#l00120">120</a> of file <a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;{ <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">CHEETAH_3</a>, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">MINI_CHEETAH</a> };</div><div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">RobotType::MINI_CHEETAH</a></div></div>
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